version: 66.07
glider: 543
mission: 14
dive: 18
start: 7 31 115 6 57 45
data:
$ID,543
$MISSION,14
$DIVE,18
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,335
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53008
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-24179.572
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1915
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3197
$C_ROLL_CLIMB,3112
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1571
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00056000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.053406
$PRESSURE_SLOPE,0.00011638312
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,117
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043512532
$SEABIRD_T_H,0.00062429422
$SEABIRD_T_I,2.2835797e-05
$SEABIRD_T_J,2.3805812e-06
$SEABIRD_C_G,-10.305622
$SEABIRD_C_H,1.1763667
$SEABIRD_C_I,-0.0018977363
$SEABIRD_C_J,0.00012677554
$GPS1,310715,064833,-4257.292,820.328,58,1.5,59,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-71.4
$GPS2,310715,065723,-4257.237,820.438,62,1.0,62,-25.0
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,SAF_1
$TGT_LATLONG,-4500.000,630.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,237.5,269459,-17.4,-9.950
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.47,-146.1,0.0,0.0,0,73,0.00,0.00,-56.90,0.000,2,0.000,0.000,62,3217,2001,0,0,0,0,0,0
$GC,76,-0.47,-146.1,3.4,-3.2,7,93,6.78,1.15,-3.88,0.000,4,0.233,0.076,1749,3957,2167,0,0,0,0,0,0
$GC,313,-0.47,-146.1,50.0,-15.1,47,320,0.00,1.15,0.00,0.000,6,0.000,0.034,1749,3200,2173,0,0,0,0,0,0
$GC,660,-0.47,-146.1,99.9,-14.9,108,669,0.00,1.20,0.00,0.000,4,0.000,0.059,1743,3952,2173,0,0,0,0,0,0
$GC,690,-0.47,-146.1,104.9,-16.0,111,698,0.00,1.15,0.00,0.000,6,0.000,0.034,1743,3192,2173,0,0,0,0,0,0
$GC,1015,-0.47,-146.1,152.7,-15.1,142,1018,0.00,1.30,0.00,0.000,4,0.000,0.033,1743,2310,2173,0,0,0,0,0,0
$GC,1041,-0.47,-146.1,156.9,-15.1,144,1051,0.00,1.45,0.00,0.000,6,0.000,0.054,1736,3197,2173,0,0,0,0,0,0
$GC,1366,-0.47,-146.1,204.7,-14.8,175,1370,0.00,1.20,0.00,0.000,4,0.000,0.060,1731,3947,2173,0,0,0,0,0,0
$GC,1506,-0.47,-146.1,226.2,-15.4,187,1515,0.12,1.12,0.00,0.000,6,0.172,0.034,1762,3199,2173,0,0,0,0,0,0
$GC,1832,-0.47,-146.1,265.0,-11.6,218,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3199,2173,0,0,0,0,0,0
$GC,2151,-0.47,-146.1,302.6,-11.5,248,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3199,2173,0,0,0,0,0,0
$GC,2471,-0.47,-146.1,340.5,-11.3,278,2474,0.00,1.17,0.00,0.000,4,0.000,0.060,1758,3946,2173,0,0,0,0,0,0
$GC,2507,-0.47,-146.1,344.7,-11.9,281,2510,0.00,1.12,0.00,0.000,6,0.000,0.034,1758,3182,2173,0,0,0,0,0,0
$GC,2836,-0.47,-146.1,381.8,-11.2,312,2840,0.00,1.20,0.00,0.000,4,0.000,0.060,1753,3946,2173,0,0,0,0,0,0
$GC,2908,-0.47,-146.1,390.8,-12.1,318,2916,0.00,1.12,0.00,0.000,6,0.000,0.034,1752,3190,2173,0,0,0,0,0,0
$GC,3226,-0.47,-146.1,426.9,-11.0,338,3230,0.00,1.20,0.00,0.000,4,0.000,0.060,1747,3953,2173,0,0,0,0,0,0
$GC,3275,-0.47,-146.1,432.5,-10.6,340,3280,0.00,1.12,0.00,0.000,6,0.000,0.034,1747,3201,2173,0,0,0,0,0,0
$GC,3602,-0.47,-146.1,468.9,-11.8,356,3606,0.00,1.17,0.00,0.000,4,0.000,0.060,1741,3950,2173,0,0,0,0,0,0
$GC,3650,-0.47,-146.1,475.5,-12.8,358,3655,0.00,1.12,0.00,0.000,6,0.000,0.034,1742,3196,2173,0,0,0,0,0,0
$GC,3978,-0.47,-146.1,518.1,-13.1,374,3981,0.00,1.20,0.00,0.000,4,0.000,0.062,1736,3941,2173,0,0,0,0,0,0
$GC,4054,-0.47,-146.1,528.6,-13.2,377,4059,0.00,1.12,0.00,0.000,6,0.000,0.035,1736,3191,2173,0,0,0,0,0,0
$GC,4376,-0.47,-146.1,569.2,-12.3,393,4379,0.00,1.20,0.00,0.000,4,0.000,0.061,1730,3953,2173,0,0,0,0,0,0
$GC,4420,-0.47,-146.1,575.2,-13.3,395,4425,0.08,1.12,0.00,0.000,6,0.154,0.036,1754,3197,2173,0,0,0,0,0,0
$GC,4752,-0.47,-146.1,610.1,-10.4,411,4756,0.00,1.20,0.00,0.000,4,0.000,0.063,1750,3940,2173,0,0,0,0,0,0
$GC,4806,-0.47,-146.1,616.4,-10.8,413,4811,0.00,1.12,0.00,0.000,6,0.000,0.035,1750,3192,2173,0,0,0,0,0,0
$GC,5128,-0.47,-146.1,651.8,-11.1,429,5131,0.00,1.20,0.00,0.000,4,0.000,0.063,1745,3954,2173,0,0,0,0,0,0
$GC,5176,-0.47,-146.1,657.8,-11.8,431,5181,0.00,1.15,0.00,0.000,6,0.000,0.035,1745,3188,2173,0,0,0,0,0,0
$GC,5504,-0.47,-146.1,695.2,-11.4,447,5507,0.00,1.20,0.00,0.000,4,0.000,0.063,1739,3950,2173,0,0,0,0,0,0
$GC,5548,-0.47,-146.1,700.4,-11.8,449,5552,0.00,1.12,0.00,0.000,6,0.000,0.037,1739,3194,2173,0,0,0,0,0,0
$GC,5880,-0.47,-146.1,738.6,-11.2,465,5883,0.00,1.17,0.00,0.000,4,0.000,0.063,1734,3940,2173,0,0,0,0,0,0
$GC,5925,-0.47,-146.1,743.7,-11.8,467,5928,0.00,1.10,0.00,0.000,6,0.000,0.037,1733,3200,2173,0,0,0,0,0,0
$GC,6256,-0.47,-146.1,781.8,-11.4,483,6260,0.00,1.17,0.00,0.000,4,0.000,0.063,1728,3943,2173,0,0,0,0,0,0
$GC,6301,-0.47,-146.1,787.3,-12.8,485,6305,0.08,1.12,0.00,0.000,6,0.161,0.037,1752,3193,2173,0,0,0,0,0,0
$GC,6632,-0.47,-146.1,819.4,-9.5,501,6636,0.00,1.20,0.00,0.000,4,0.000,0.063,1747,3954,2173,0,0,0,0,0,0
$GC,6699,-0.47,-146.1,826.1,-10.2,504,6703,0.00,1.12,0.00,0.000,6,0.000,0.037,1748,3193,2173,0,0,0,0,0,0
$GC,7031,-0.47,-146.1,857.9,-9.7,520,7035,0.00,1.17,0.00,0.000,4,0.000,0.063,1742,3935,2173,0,0,0,0,0,0
$GC,7103,-0.47,-146.1,865.5,-10.6,523,7108,0.00,1.12,0.00,0.000,6,0.000,0.036,1742,3194,2173,0,0,0,0,0,0
$GC,7430,-0.47,-146.1,900.0,-10.6,539,7433,0.00,1.20,0.00,0.000,4,0.000,0.063,1737,3953,2173,0,0,0,0,0,0
$GC,7501,-0.47,-146.1,908.6,-11.3,542,7506,0.00,1.15,0.00,0.000,6,0.000,0.036,1737,3192,2173,0,0,0,0,0,0
$GC,7828,-0.47,-146.1,943.8,-10.7,558,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3192,2173,0,0,0,0,0,0
$GC,8137,-0.47,-146.1,976.5,-10.5,573,8141,0.00,1.20,0.00,0.000,4,0.000,0.064,1731,3950,2173,0,0,0,0,0,0
$GC,8192,-0.47,-146.1,982.9,-11.4,575,8197,0.12,1.15,0.00,0.000,6,0.178,0.037,1763,3192,2173,0,0,0,0,0,0
$STATE,8388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8388,begin apogee
$GC,8392,-0.11,0.0,1000.2,8.8,585,8544,0.35,0.00,148.77,1.901,6,0.138,0.000,1873,3107,1570,0,0,0,0,0,0
$STATE,8544,end apogee,CONTROL_FINISHED_OK
$STATE,8545,begin climb
$GC,8546,0.47,146.1,1006.3,0.0,592,8696,0.55,1.52,142.15,1.851,4,0.075,0.040,2069,2243,976,0,0,0,0,0,0
$GC,8805,0.47,146.1,985.3,12.7,604,8808,0.00,1.50,0.00,0.000,6,0.000,0.054,2069,3106,974,0,0,0,0,0,0
$GC,9136,0.47,146.1,940.4,13.4,620,9140,0.00,1.40,0.00,0.000,4,0.000,0.038,2075,2236,971,0,0,0,0,0,0
$GC,9218,0.47,146.1,929.8,12.5,623,9227,0.00,1.50,0.00,0.000,6,0.000,0.054,2075,3122,971,0,0,0,0,0,0
$GC,9535,0.47,146.1,882.5,15.4,639,9538,0.00,1.40,0.00,0.000,4,0.000,0.038,2082,2238,970,0,0,0,0,0,0
$GC,9625,0.47,146.1,869.6,15.0,643,9628,0.00,1.45,0.00,0.000,6,0.000,0.055,2082,3114,970,0,0,0,0,0,0
$GC,9956,0.47,146.1,816.0,16.1,659,9958,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,3113,970,0,0,0,0,0,0
$GC,10265,0.47,146.1,768.7,15.1,674,10267,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,3113,970,0,0,0,0,0,0
$GC,10575,0.47,146.1,723.7,14.2,689,10578,0.00,1.38,0.00,0.000,4,0.000,0.040,2089,2234,970,0,0,0,0,0,0
$GC,10665,0.47,146.1,711.5,13.2,693,10668,0.00,1.42,0.00,0.000,6,0.000,0.055,2089,3111,970,0,0,0,0,0,0
$GC,10996,0.47,146.1,661.7,15.0,709,11000,0.00,1.38,0.00,0.000,4,0.000,0.040,2095,2239,970,0,0,0,0,0,0
$GC,11041,0.47,146.1,655.3,13.6,711,11045,0.00,1.42,0.00,0.000,6,0.000,0.056,2095,3114,970,0,0,0,0,0,0
$GC,11373,0.47,146.1,603.9,15.7,727,11376,0.00,1.38,0.00,0.000,4,0.000,0.039,2101,2231,970,0,0,0,0,0,0
$GC,11410,0.47,146.1,598.2,13.7,728,11419,0.12,1.45,0.00,0.000,6,0.210,0.055,2073,3115,970,0,0,0,0,0,0
$GC,11726,0.47,146.1,556.0,13.1,744,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3115,969,0,0,0,0,0,0
$GC,12035,0.47,146.1,514.3,13.5,759,12039,0.00,1.35,0.00,0.000,4,0.000,0.037,2079,2240,969,0,0,0,0,0,0
$GC,12095,0.47,146.1,506.6,11.9,761,12103,0.00,1.42,0.00,0.000,6,0.000,0.055,2079,3112,969,0,0,0,0,0,0
$GC,12412,0.47,146.1,463.5,14.1,777,12415,0.00,1.38,0.00,0.000,4,0.000,0.039,2086,2236,969,0,0,0,0,0,0
$GC,12466,0.47,146.1,456.3,12.2,779,12471,0.00,1.45,0.00,0.000,6,0.000,0.056,2086,3120,969,0,0,0,0,0,0
$GC,12787,0.47,146.1,409.9,14.5,795,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3121,969,0,0,0,0,0,0
$GC,13107,0.47,146.1,362.9,15.2,821,13108,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3120,969,0,0,0,0,0,0
$GC,13422,0.47,146.1,314.7,14.6,851,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3120,969,0,0,0,0,0,0
$GC,13744,0.47,146.1,268.8,14.6,881,13747,0.00,1.35,0.00,0.000,4,0.000,0.038,2092,2240,969,0,0,0,0,0,0
$GC,13804,0.47,146.1,259.5,13.3,886,13812,0.00,1.42,0.00,0.000,6,0.000,0.055,2092,3113,969,0,0,0,0,0,0
$GC,14133,0.47,146.1,210.7,14.5,917,14136,0.00,1.35,0.00,0.000,4,0.000,0.037,2099,2233,969,0,0,0,0,0,0
$GC,14238,0.47,146.1,196.1,12.7,926,14246,0.12,1.42,0.00,0.000,6,0.200,0.054,2069,3112,970,0,0,0,0,0,0
$GC,14567,0.47,146.1,156.0,12.3,957,14568,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3112,969,0,0,0,0,0,0
$GC,14882,0.47,146.1,118.2,11.9,987,14883,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3112,969,0,0,0,0,0,0
$GC,15211,0.47,146.1,78.7,12.0,1032,15219,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,3112,969,0,0,0,0,0,0
$GC,15562,0.47,146.1,34.8,12.2,1093,15570,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3112,969,0,0,0,0,0,0
$GC,15713,0.47,146.1,17.3,10.9,1118,15722,0.00,1.35,0.00,0.000,4,0.000,0.032,2075,2222,969,0,0,0,0,0,0
$GC,15771,0.47,146.1,8.9,15.8,1127,15779,0.00,1.42,0.00,0.000,6,0.000,0.056,2075,3112,969,0,0,0,0,0,0
$STATE,15815,end climb,SURFACE_DEPTH_REACHED
$STATE,15815,begin surface coast
$FINISH,0.8,1.013517
$STATE,15846,end surface coast,CONTROL_FINISHED_OK
$STATE,15846,begin surface
$SM_CCo,15858,53.08,0.477,1,0,672,220.03
$SM_GC,1.87,0.00,0.00,53.08,0.000,0.000,0.477,71,3222,672,-5.75,0.71,220.03
$IRIDIUM_FIX,-4236.17,824.43,260508,111145
$TT8_MAMPS,0.027713
$HUMID,61.06
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.4,7.589
$10V_AH,10.3,3.310
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,13.775,75.900,290.925,53.075,0.000,34.232,23.555,307.922,0.000,0.000,65.085,2809.828,10037.312,468.137,3003.036,129.770,0.000,1578.141,0.000,2551.413,0.000,0.544,0.000
$DEVICE_MAMPS,233.325,97.920,1901.025,476.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.048,810.777,814.216,76.964,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354576
$DATA_FILE_SIZE,67005,1139
$CAP_FILE_SIZE,145628,0
$CFSIZE,259252224,257179648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310715,112533,-4258.781,818.802,118,1.0,118,-25.0